CN117245388A - End effector assembling system and assembling method - Google Patents
End effector assembling system and assembling method Download PDFInfo
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- CN117245388A CN117245388A CN202311525252.1A CN202311525252A CN117245388A CN 117245388 A CN117245388 A CN 117245388A CN 202311525252 A CN202311525252 A CN 202311525252A CN 117245388 A CN117245388 A CN 117245388A
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- 239000012636 effector Substances 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims abstract 4
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 19
- 238000004088 simulation Methods 0.000 description 9
- 230000002035 prolonged effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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Abstract
The invention provides an end effector assembly system and an assembly method, which relate to the field of end effector assembly and adopt the following scheme: including platform and frame, the platform is located inside the frame, be provided with the crossbeam in the frame, the crossbeam is located platform upper portion, the crossbeam is used for installing end effector horizontal pole, be provided with the hydro-cylinder array on the platform, the hydro-cylinder array includes a plurality of hydro-cylinders, hydro-cylinder array upper portion is provided with the flexonics, the piston rod of hydro-cylinder all with the flexonics is connected, the hydro-cylinder all is connected with the controller electricity, the controller is connected with the electricity, the computer can load the three-dimensional model of sheet material, the controller can control relevant position the flexible degree of hydro-cylinder. The invention can improve the assembling efficiency and the safety of the end effector.
Description
Technical Field
The present invention relates to the field of assembling an end effector, and in particular, to an assembling system and an assembling method for an end effector.
Background
The end effector is generally a device installed on an industrial robot or a mechanical arm, and currently, when the end effector is built to install a sucker, manual measurement of the installation position is generally adopted, so that the efficiency is low, the installation position of the sucker is inaccurate easily due to measurement errors, the obtained end effector is difficult to pick up a target, or the picking stability is insufficient in the process of picking up the target.
In both the Chinese patent publication No. CN113600702A, namely an end effector pre-building system and a control method thereof, and the Chinese patent publication No. CN114012649A, namely an auxiliary device and a method for assembling an end effector, a method for simulating the position of a sucker to assist in building the end effector is described, firstly, an end effector model is built in a computer according to a plate model, then the manipulator is controlled to move according to the position of the sucker in the end effector model, an operator installs a sucker assembly according to the stay position of the manipulator, the problem that the installation error is overlarge due to the fact that the installation position of the end effector is measured on the end effector manually at present, the end effector is difficult to pick up a target object due to inaccurate installation position of the sucker assembly, or the picking stability is insufficient in the process of picking up the target object is avoided.
However, the above technical solution solves the problem of accuracy of mounting the suction cup, but also brings some problems, firstly, the design workload is increased, and an end effector needs to be built in three-dimensional space in advance according to a plate model, so that the suction cup coordinates are converted into manipulator coordinates; secondly, the manipulator can only move and install one sucker at a time, when the manipulator moves, an installer needs to stop working, and the working efficiency cannot be improved; thirdly, the risk of cross operation exists between the movement of the manipulator and personnel, and the mechanical injury accident is possible.
Disclosure of Invention
In order to solve the problems of low assembly efficiency and low safety of the end effector in the prior art, the invention provides an assembly system and an assembly method of the end effector, which can improve the assembly efficiency and the safety of the end effector.
In order to solve the technical problems, in a first aspect, the invention provides a technical scheme of an end effector assembly system, which comprises a platform and a rack, wherein the platform is positioned in the rack, a beam is arranged on the rack, the beam is positioned at the upper part of the platform, the beam is used for mounting an end effector cross bar, an oil cylinder array is arranged on the platform, the oil cylinder array comprises a plurality of oil cylinders, flexible pieces are arranged at the upper part of the oil cylinder array, piston rods of the oil cylinders are connected with the flexible pieces, the oil cylinders are electrically connected with a controller, the controller is electrically connected with a computer, the computer can load a three-dimensional model of a plate material, and the controller can control the expansion degree of the oil cylinders at corresponding positions. Through the cooperation of controller, hydro-cylinder array and flexible piece, realize the digital information of the three-dimensional model of waiting to pick up the sheet material carries out simulation show through the flexible piece, need not to build the end effector in the three-dimensional model, and then make things convenient for the operator to confirm the suitable mounted position of a plurality of sucking disc subassemblies, simultaneously, once only confirm numerous mounted position through the flexible piece, need not to confirm in proper order with the help of a position of manipulator, promoted the efficiency that the sucking disc position was confirmed, do not have the simultaneous action of machinery and people, and then greatly promote end effector packaging efficiency and security.
Further, the flexible piece adopts rubber material, the flexible piece lower surface with the corresponding position of hydro-cylinder all is provided with the connecting plate, the connecting plate with corresponding the piston rod passes through the ball joint and articulates. The spherical joint is hinged to enable the flexible piece and the piston rod to rotate relatively, so that the structure of the plate is more similar to that of the plate, tangential stress of the flexible piece is reduced, and the service life is prolonged.
Further, the computer is loaded with DELMIA software and CATIA software. The three-dimensional model of the plate can be better formed through DELMIA software and CATIA software to be more similar to the real structure of the plate, so that the control of the oil cylinders at the corresponding positions is more accurate, and the accuracy of sucker installation is improved.
Further, the cylinder array comprises at least 36 cylinders per square meter. The flexible piece can more accurately simulate the structure of the plate material through the density of the lifting oil cylinder, and the accuracy of sucker installation is improved.
Further, the platform is provided with an installation seat, and the installation seat is detachably connected with a cylinder body of the oil cylinder. The position of the oil cylinder can be guaranteed not to move through the mounting seat, and accuracy and stability of simulation of the flexible piece are guaranteed.
Further, be provided with quick detach subassembly on the crossbeam, quick detach subassembly includes connecting piece one, connecting piece one sets up on the crossbeam, connecting piece one is pegged graft with connecting piece two on the end effector horizontal pole, be provided with the clamp on the connecting piece one, the clamp can lock connecting piece two.
In a second aspect, the present invention further provides an end effector assembly method, which adopts the end effector assembly system, and includes the following steps:
s01: mounting a cross bar of the end effector to be assembled on the cross bar;
s02: the three-dimensional model information of the plate to be picked up is imported into a computer, and the computer exports the telescopic height of the corresponding oil cylinder;
s03: the controller controls the expansion degree of the oil cylinders at the corresponding positions, and the flexible part simulates a plate structure;
s04: determining a sucker pick-up position on the flexible member;
s05: mounting the suction cup assembly on the cross bar according to the determined pick-up position;
s06: after the sucker assemblies are all installed, the oil cylinder returns, and the assembled end pick-up device is disassembled. According to the method, the flexible piece is covered by the oil cylinder array to simulate the shape of the plate instead of the manipulator to simulate the position of the sucker in the prior art, an end effector is not required to be built in the three-dimensional model, the plate data is only required to be converted into the space coordinates of the corresponding point, the oil cylinder is controlled to stretch out and draw back, the shape of the plate can be generated, an installer only needs to put the sucker at a proper position of the plate, and the safety and the efficiency of sucker installation are improved.
Further, in S02, the three-dimensional model information of the plate to be picked up is the three-dimensional model information of a single plate to be picked up or the three-dimensional model information of multiple plates to be picked up, when the three-dimensional model information of the multiple plates to be picked up is imported, the computer calculates the overlapping areas of the multiple plates to be picked up, and in S03, the degree of expansion and contraction of the cylinders at the corresponding positions is controlled according to the three-dimensional model information of the overlapping areas. The method can assemble the universal end effector, is suitable for picking up various plates, and greatly improves the assembly efficiency of the universal end effector.
Further, in S02, the computer coincides the center position of the cylinder array with the center position of the three-dimensional model of the sheet to be picked up. By overlapping the central positions of the oil cylinder array and the three-dimensional model, the information of the three-dimensional model can be accurately converted into the telescopic height of the oil cylinder at the corresponding position, and the deviation of the assembled end effector is avoided.
Further, in S05, when installing the sucking disc subassembly, adjustment sucking disc angle guarantees that the sucking disc can laminate with the flexible piece. The assembling of the end pick-up device can be guaranteed by adjusting the attachment of the sucker and the flexible piece, the plate to be picked up can be sucked tightly, and the reliability of the end pick-up device is improved.
From the above technical scheme, the invention has the following advantages:
the invention provides an end effector assembling system and an assembling method, which realize that digital information of a three-dimensional model of a plate to be picked is simulated and displayed through a flexible piece by matching a controller, an oil cylinder array and the flexible piece, so that an operator can conveniently determine proper mounting positions of a plurality of sucker assemblies without building the end effector in the three-dimensional model, and meanwhile, a plurality of mounting positions are determined once through the flexible piece without sequentially determining one position by a manipulator, thereby improving the efficiency of determining the positions of the suckers, avoiding simultaneous actions of a machine and a person, and further greatly improving the assembling efficiency and the safety of the end effector; the spherical joint is hinged to enable the flexible piece and the piston rod to rotate relatively, so that the structure of the flexible piece is more similar to that of a plate material, tangential stress of the flexible piece is reduced, and the service life is prolonged; the three-dimensional model of the plate can be better formed by DELMIA software and CATIA software to be more similar to the real structure of the plate, so that the control of the oil cylinders at the corresponding positions is more accurate, and the accuracy of sucker installation is improved; the flexible piece can more accurately simulate the structure of the plate material through the density of the lifting oil cylinder, and the accuracy of the installation of the sucker is improved; the mounting seat can ensure that the position of the oil cylinder cannot move, and ensure the accuracy and stability of the simulation of the flexible piece; the universal end pick-up device can be assembled by the method, is suitable for picking up various plates, and greatly improves the assembly efficiency of the universal end pick-up device; the oil cylinder array is overlapped with the central position of the three-dimensional model, so that the information of the three-dimensional model can be accurately converted into the telescopic height of the oil cylinder at the corresponding position, and the deviation of the assembled end effector is avoided; the assembling of the end pick-up device can be guaranteed by adjusting the attachment of the sucker and the flexible piece, the plate to be picked up can be sucked tightly, and the reliability of the end pick-up device is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an oil cylinder array according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a quick-release assembly according to a first embodiment of the present invention.
Fig. 4 is a schematic structural view of a second connector on the cross bar of the pick-up.
Fig. 5 is a schematic structural view of a first connector according to a first embodiment of the present invention.
In the figure, 1, a controller; 2. a computer; 3. a frame; 301. a cross beam; 4. a cross bar; 5. a suction cup assembly; 6. a platform; 7. a mounting base; 8. a quick release assembly; 801. a second connecting piece; 802. a first connecting piece; 803. a clamp; 9. an oil cylinder; 10. a flexible member.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the drawings in this specific embodiment, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, based on the embodiments in this patent, which would be within the purview of one of ordinary skill in the art without the particular effort to make the invention are intended to be within the scope of the patent protection.
The inventor finds that in the existing end effector assembly process, an end effector model needs to be built in a computer according to a plate model, then a manipulator is controlled to move according to the position of a sucker in the end effector model, and an operator installs a sucker assembly according to the stay position of the manipulator, so that the efficiency and the safety are low; based on the above, in an embodiment of the invention provided by the inventor, the three-dimensional model information of the plate is simulated and displayed through the oil cylinder array and the flexible piece, so that the problem of low assembly efficiency and low safety of the end effector in the prior art is solved.
Detailed description of the preferred embodiments
As shown in fig. 1 to 5, the present embodiment provides an end effector assembly system, which includes a platform 6, a frame 3, a computer 2, and a controller 1; the platform 6 is positioned in the frame 3, the frame 3 is provided with a cross beam 301, the cross beam 301 is positioned at the upper part of the platform 6, the cross beam 301 is used for installing the end effector cross beam 4, the cross beam 301 is provided with a quick-dismantling component 8, the quick-dismantling component 8 comprises a first connecting piece 802, the first connecting piece 802 stretches across the cross beam 301, the first connecting piece 802 is spliced with a second connecting piece 801 on the end effector cross beam 4, specifically, the first connecting piece 802 is provided with an inserting hole, the second connecting piece 801 is provided with a pin roll, the pin roll is in clearance fit with the inserting hole, the first connecting piece 802 is provided with a clamp 803, the corresponding position on the second connecting piece 801 is provided with a lock seat, and the clamp 803 can lock the second connecting piece 801; the platform 6 is provided with an oil cylinder array, the oil cylinder array comprises a plurality of oil cylinders 9, flexible pieces 10 are arranged on the upper portion of the oil cylinder array, piston rods of the oil cylinders 9 are connected with the flexible pieces 10, the oil cylinders 9 are electrically connected with the controller 1, the controller 1 is electrically connected with the computer 2, the computer 2 can load a three-dimensional model of a plate, the controller 1 can control the expansion degree of the oil cylinders 9 at corresponding positions, and then simulation of the shape of the plate is achieved. Through the cooperation of controller 1, hydro-cylinder array and flexible part 10, realize carrying out simulation show with the digital information of the three-dimensional model of waiting to pick up the sheet material through flexible part 10, need not to build the end effector in three-dimensional model, and then make things convenient for the operator to confirm the suitable mounted position of a plurality of sucking disc subassemblies 5, simultaneously, once only confirm numerous mounted position through flexible part 10, need not to confirm in proper order with the help of a position of manipulator, promoted sucking disc position determination's efficiency, do not have the simultaneous action of machinery and people, and then very big promotion end effector packaging efficiency and security.
As shown in fig. 1 and 2, in order to improve the simulation accuracy of the flexible member 10, the flexible member 10 is made of rubber materials, connecting plates are arranged at positions, corresponding to the oil cylinders 9, on the lower surface of the flexible member 10, and the connecting plates are hinged with corresponding piston rods through ball joints. The flexible piece 10 and the piston rod can relatively rotate through the spherical joint hinge, so that the structure of the flexible piece is more similar to that of a plate material, tangential stress of the flexible piece 10 is reduced, and the service life is prolonged; the computer 2 is loaded with DELMIA software and CATIA software. The three-dimensional model of the plate can be better formed by DELMIA software and CATIA software to be more similar to the real structure of the plate, so that the control of the oil cylinders 9 at the corresponding positions is more accurate, and the accuracy of sucker installation is improved; each square meter oil cylinder array at least comprises 36 oil cylinders 9, the flexible piece 10 can more accurately simulate the structure of a plate material through the density of the lifting oil cylinders 9, the accuracy of sucker installation is improved, and in the specific embodiment, the oil cylinders 9 are customized for manufacturers, and the oil cylinder array is provided with 14 rows and 27 columns; the mounting seat 7 is arranged on the platform 6, the mounting seat 7 is detachably connected with the cylinder body of the oil cylinder 9 through bolts, the position of the oil cylinder 9 can be guaranteed not to move through the mounting seat 7, and the simulation accuracy and stability of the flexible piece 10 are guaranteed.
Detailed description of the preferred embodiments
The present embodiment provides an end effector assembly method, which adopts the end effector assembly system in the first embodiment, and includes the following steps:
s01: mounting a cross bar of the end effector to be assembled on the cross bar;
s02: the three-dimensional model information of the plate to be picked up is imported into a computer, and the computer exports the telescopic height of the corresponding oil cylinder;
s03: the controller controls the expansion degree of the oil cylinders at the corresponding positions, and the flexible part simulates a plate structure;
s04: determining a sucker pick-up position on the flexible member;
s05: mounting the suction cup assembly on the cross bar according to the determined pick-up position;
s06: after the sucker assemblies are all installed, the oil cylinder returns, and the assembled end pick-up device is disassembled.
According to the method, the flexible piece is covered by the oil cylinder array to simulate the shape of the plate instead of the manipulator to simulate the position of the sucker in the prior art, an end effector is not required to be built in the three-dimensional model, the plate data is only required to be converted into the space coordinates of the corresponding point, the oil cylinder is controlled to stretch out and draw back, the shape of the plate can be generated, an installer only needs to put the sucker at a proper position of the plate, and the safety and the efficiency of sucker installation are improved.
In S02, the three-dimensional model information of the plate to be picked up is the three-dimensional model information of a single plate to be picked up or the three-dimensional model information of multiple plates to be picked up, when the three-dimensional model information of the multiple plates to be picked up is imported, the computer calculates the overlapping areas of the multiple plates to be picked up, and in S03, the extension and retraction degrees of the cylinders at the corresponding positions are controlled according to the three-dimensional model information of the overlapping areas. The method can assemble the universal end effector, is suitable for picking up various plates, and greatly improves the assembly efficiency of the universal end effector.
In S05, when installing the sucking disc subassembly, adjustment sucking disc angle guarantees that the sucking disc can laminate with the flexible piece. The assembling of the end pick-up device can be guaranteed by adjusting the attachment of the sucker and the flexible piece, the plate to be picked up can be sucked tightly, and the reliability of the end pick-up device is improved.
From the above detailed description, it can be seen that the present invention has the following advantages:
1. through the cooperation of the controller 1, the oil cylinder array and the flexible piece 10, the simulation display of the digital information of the three-dimensional model of the plate to be picked up is realized through the flexible piece 10, an end effector is not required to be built in the three-dimensional model, so that an operator can conveniently determine proper installation positions of a plurality of sucker assemblies 5, meanwhile, a plurality of installation positions are determined through the flexible piece 10 at one time, the position of a manipulator is not required to be sequentially determined by one position, the sucker position determination efficiency is improved, simultaneous actions of a machine and a person are avoided, and the assembly efficiency and the safety of the end effector are greatly improved;
2. the flexible piece 10 and the piston rod can relatively rotate through the spherical joint hinge, so that the structure of the flexible piece is more similar to that of a plate material, tangential stress of the flexible piece 10 is reduced, and the service life is prolonged;
3. the three-dimensional model of the plate can be better formed by DELMIA software and CATIA software to be more similar to the real structure of the plate, so that the control of the oil cylinders 9 at the corresponding positions is more accurate, and the accuracy of sucker installation is improved;
4. the flexible piece 10 can more accurately simulate the structure of a plate material through the density of the lifting oil cylinder 9, and the accuracy of the sucker installation is improved;
5. the mounting seat 7 can ensure that the position of the oil cylinder 9 cannot move, and ensure the simulation accuracy and stability of the flexible piece 10;
6. the universal end effector can be assembled by searching the overlapping areas of various plates, so that the universal end effector is suitable for picking up various plates, and the assembling efficiency of the universal end effector is greatly improved;
7. the oil cylinder array is overlapped with the central position of the three-dimensional model, so that the information of the three-dimensional model can be accurately converted into the telescopic height of the oil cylinder at the corresponding position, and the deviation of the assembled end effector is avoided;
8. the assembling of the end pick-up device can be guaranteed by adjusting the attachment of the sucker and the flexible piece, the plate to be picked up can be sucked tightly, and the reliability of the end pick-up device is improved.
The terms "upper," "lower," "outboard," "inboard," and the like in the description and in the claims of the invention and in the above figures, if any, are used for distinguishing between relative relationships in position and not necessarily for giving qualitative sense. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an end effector equipment system, including platform (6) and frame (3), platform (6) are located inside frame (3), a serial communication port, be provided with crossbeam (301) on frame (3), crossbeam (301) are located platform (6) upper portion, crossbeam (301) are used for installing end effector horizontal pole, be provided with oil cylinder array on platform (6), oil cylinder array includes a plurality of hydro-cylinders (9), oil cylinder array upper portion is provided with flexible piece (10), the piston rod of hydro-cylinder (9) all is connected with flexible piece (10), hydro-cylinder (9) all are connected with controller (1) electricity, controller (1) are connected with computer (2) electricity, computer (2) can load the three-dimensional model of sheet material, controller (1) can control the degree of stretching out and drawing back of corresponding position hydro-cylinder (9).
2. An end effector assembly system according to claim 1, wherein the flexible member (10) is made of rubber material, and the lower surface of the flexible member (10) is provided with connection plates at positions corresponding to the cylinders (9), and the connection plates are hinged to the corresponding piston rods through ball joints.
3. An end-effector assembly system according to claim 2, characterized in that the computer (2) is loaded with DELMIA software and CATIA software.
4. An end effector assembly system according to claim 1, characterized in that the array of cylinders per square meter comprises at least 36 cylinders (9).
5. An end effector assembly system according to claim 4, wherein the platform (6) is provided with a mounting seat (7), the mounting seat (7) being detachably connected to the body of the cylinder (9).
6. An end effector assembly system according to claim 1, wherein the cross member (301) is provided with a quick release assembly (8), the quick release assembly (8) comprising a first connector (802), the first connector (802) being provided on the cross member (301), the first connector (802) being adapted to be in engagement with a second connector on the end effector cross member, the first connector (802) being provided with a clamp (803), the clamp (803) being adapted to lock the second connector.
7. An end-effector assembly method, characterized in that an end-effector assembly system according to any one of claims 1-6 is used, comprising the steps of:
s01: mounting a cross bar of the end effector to be assembled on the cross bar;
s02: the three-dimensional model information of the plate to be picked up is imported into a computer, and the computer exports the telescopic height of the corresponding oil cylinder;
s03: the controller controls the expansion degree of the oil cylinders at the corresponding positions, and the flexible part simulates a plate structure;
s04: determining a sucker pick-up position on the flexible member;
s05: mounting the suction cup assembly on the cross bar according to the determined pick-up position;
s06: after the sucker assemblies are all installed, the oil cylinder returns, and the assembled end pick-up device is disassembled.
8. The end effector assembling method according to claim 7, wherein in S02, the three-dimensional model information of the sheet to be picked up is three-dimensional model information of a single sheet to be picked up or three-dimensional model information of a plurality of types of sheets to be picked up, and when the three-dimensional model information of the plurality of types of sheets to be picked up is imported, the computer calculates overlapping areas of the plurality of types of sheets to be picked up, and in S03, controls the degree of expansion and contraction of the cylinders at the corresponding positions according to the three-dimensional model information of the overlapping areas.
9. An end effector assembling method according to claim 8, wherein in S02, the computer coincides a center position of the cylinder array with a center position of the three-dimensional model of the sheet material to be picked up.
10. An end effector assembly method according to claim 7, wherein in S05, the suction cup assembly is mounted by adjusting the suction cup angle to ensure that the suction cup engages the flexible member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525252.1A CN117245388A (en) | 2023-11-16 | 2023-11-16 | End effector assembling system and assembling method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525252.1A CN117245388A (en) | 2023-11-16 | 2023-11-16 | End effector assembling system and assembling method |
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| CN117245388A true CN117245388A (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311525252.1A Pending CN117245388A (en) | 2023-11-16 | 2023-11-16 | End effector assembling system and assembling method |
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| CN113600702A (en) * | 2021-08-04 | 2021-11-05 | 武汉维谘信息技术有限公司 | End effector pre-building system and control method thereof |
| CN114012649A (en) * | 2021-11-19 | 2022-02-08 | 伟本智能机电（上海）股份有限公司 | Auxiliary device and method for assembling end effector |
| CN115195091A (en) * | 2022-05-27 | 2022-10-18 | 肖丽丽 | Variable mold platform device and curved surface piece manufacturing method |
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2023
- 2023-11-16 CN CN202311525252.1A patent/CN117245388A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1268059A (en) * | 1968-04-15 | 1972-03-22 | Ibm | Improvements relating to apparatus for mounting semiconductor chips |
| CN103727336A (en) * | 2013-12-31 | 2014-04-16 | 辽宁东泰自动化设备制造有限公司 | Quick connector |
| CN206622803U (en) * | 2016-12-20 | 2017-11-10 | 北京汽车股份有限公司 | For assembling the support of terminal-collecting machine |
| CN209303577U (en) * | 2018-10-24 | 2019-08-27 | 广州信邦智能装备股份有限公司 | A kind of de-stacking terminal-collecting machine |
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| CN113600702A (en) * | 2021-08-04 | 2021-11-05 | 武汉维谘信息技术有限公司 | End effector pre-building system and control method thereof |
| CN114012649A (en) * | 2021-11-19 | 2022-02-08 | 伟本智能机电（上海）股份有限公司 | Auxiliary device and method for assembling end effector |
| CN115195091A (en) * | 2022-05-27 | 2022-10-18 | 肖丽丽 | Variable mold platform device and curved surface piece manufacturing method |
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